US9597803B2 - Robot device - Google Patents

Robot device Download PDF

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Publication number
US9597803B2
US9597803B2 US13/951,827 US201313951827A US9597803B2 US 9597803 B2 US9597803 B2 US 9597803B2 US 201313951827 A US201313951827 A US 201313951827A US 9597803 B2 US9597803 B2 US 9597803B2
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Prior art keywords
hand
robot
arm
end effector
control
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US13/951,827
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US20140046486A1 (en
Inventor
Toshihiko Mimura
Takashi Arai
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Canon Inc
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Canon Inc
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Assigned to CANON KABUSHIKI KAISHA reassignment CANON KABUSHIKI KAISHA ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: ARAI, TAKASHI, MIMURA, TOSHIHIKO
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0408—Connections means
    • B25J15/0433—Connections means having gripping members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera

Definitions

  • the present invention relates to a robot device including an arm, and more particularly, to a robot device including a replaceable end effector that is mounted to a distal end of an arm.
  • a stereo camera mounted to the arm is focused on the tip of the tweezer hand, and the precision component is assembled to the workpiece while controlling the position of the tweezer hand with respect to the precision component.
  • the camera when the camera is mounted to the arm or the hand, it is necessary to prevent the camera from coming into contact with stands for the workpiece and the precision component, protrusions in various work spaces, or the like, which significantly restricts the motion of the arm.
  • the camera is only an obstacle for the arm, and the work efficiency may be reduced due to the restriction.
  • the camera when the camera is mounted to the arm, it is necessary to set the specification values, such as the weight capacity, of the arm to be large, and hence the downsizing of the robot device is inhibited.
  • the present invention has an object to provide a small-sized robot device having high versatility without decreasing the work efficiency.
  • a robot device including: a robot arm; an end effector including a stereo camera for measuring a three-dimensional position of a workpiece, the end effector performing a work with respect to the workpiece whose three-dimensional position has been measured by the stereo camera; and a connector provided on a distal end of the robot arm, the connector releasably connecting the end effector to the robot arm.
  • FIG. 1 is a schematic view illustrating a robot station according to a first embodiment of the present invention.
  • FIG. 2 is a block diagram of a controller for controlling a robot device according to the first embodiment.
  • FIG. 3 is a schematic view illustrating a tweezer hand and a connection portion of the robot device according to the first embodiment.
  • FIG. 4 is a schematic view illustrating a robot system including the robot station according to the first embodiment and multiple other robot stations.
  • FIG. 5 is a schematic view illustrating a robot station according to a second embodiment of the present invention.
  • FIG. 6 is a block diagram of a controller for controlling a first robot device and a second robot device according to the second embodiment.
  • FIG. 7 is a schematic view illustrating a tweezer tool and a hand of the second robot device according to the second embodiment.
  • FIG. 8 is a schematic view illustrating a robot system including the robot station according to the second embodiment and multiple other robot stations.
  • FIG. 9 is a schematic view illustrating a robot station according to a third embodiment of the present invention.
  • FIG. 10 is a schematic view illustrating a tweezer tool and a hand of a second robot device according to the third embodiment.
  • FIGS. 11A and 11B are views illustrating transmission contact points of the hand of the second robot device according to the third embodiment.
  • FIG. 12 is a block diagram of the transmission contact points of the second robot device according to the third embodiment.
  • FIG. 13 is a schematic view illustrating a robot system including the robot station according to the third embodiment and multiple other robot stations.
  • FIG. 14 is a schematic view illustrating a robot station according to a fourth embodiment of the present invention.
  • FIG. 15 is a block diagram of transmission contact points of a second robot device according to the fourth embodiment.
  • FIG. 16 is a schematic view illustrating a robot system including the robot station according to the fourth embodiment and multiple other robot stations.
  • a hand refers to a member that is mounted to a distal end of an arm (robot arm) directly or through intermediation of a connecting mechanism that does not have a gripping function, and includes a mechanism with a gripping function.
  • a tool refers to a member that is used by being gripped by the hand, and includes a mechanism with a gripping function that is different from that of the hand.
  • FIG. 1 is a schematic view illustrating the robot station 1 according to the first embodiment of the present invention.
  • FIG. 2 is a block diagram of a controller 6 for controlling a robot device 2 according to the first embodiment.
  • the robot station 1 includes the robot device 2 for assembling a workpiece W, a work table 3 on which the assembly of the workpiece W is performed, a first stand 5 a and a second stand 5 b for placing a hand 4 to be described later, and the controller 6 for controlling the robot device 2 .
  • the robot device 2 includes a six-axis articulated arm 20 , the hand 4 serving as an end effector connected to the distal end of the arm 20 , and a connection portion 21 serving as a connector for connecting the hand 4 to the arm 20 .
  • the arm 20 includes six actuators for driving respective joints to rotate about respective joint axes. By selectively driving the respective actuators, the hand 4 is moved to an arbitrary three-dimensional position.
  • the hand 4 is freely removable from the connection portion 21 .
  • a tweezer hand 41 for assembling a precision component, and a gripper hand 42 that grips the workpiece W for transportation or the like are prepared.
  • a hand mechanism system and each type of tool associated therewith can be controlled via a common interface among various hands. With this, even when a different hand is mounted, the hand can be easily replaced without imposing a significant load on the system. Further, it is possible to respond easily to the system expansion. Note that, the hand 4 and the connection portion 21 are described in detail later.
  • the work table 3 is formed into a rectangular box shape, and includes a feed tray 30 in which the precision components to be assembled to the workpiece W are placed, and a stage 31 on which the workpiece W is placed.
  • a lens barrel as the workpiece W is placed on the stage 31 , and the stage 31 is formed so that the lens barrel can be placed thereon.
  • the first stand 5 a and the second stand 5 b are each a stand for placing the hand 4 that is not mounted to the arm 20 , and are arranged within a movable range of the robot device 2 .
  • the tweezer hand 41 is placed on the first stand 5 a
  • the gripper hand 42 is placed on the second stand 5 b .
  • the gripper hand 42 is placed on the second stand 5 b.
  • the controller 6 includes a computation apparatus 60 and a storage apparatus 61 provided in a computer main body.
  • the arm 20 , the hand 4 , and a stereo camera 46 are connected to the computer main body via a bus.
  • the computer main body is also connected to an input apparatus 62 , a teaching pendant 63 , a display 64 , a speaker 65 , a recording medium reading device 66 , a communication device 67 , and the like via the bus. Note that, in FIG. 2 , an interface for establishing those connections is not illustrated.
  • the computation apparatus 60 includes a CPU 60 a , an image processing apparatus 60 b , and a voice processing apparatus 60 c .
  • the CPU 60 a includes a camera control section 60 d and a robot control section 60 e .
  • the camera control section 60 d measures the three-dimensional positions of the workpiece W and the precision component based on various programs stored in the storage apparatus 61 , settings input from the input apparatus 62 , and the like.
  • the robot control section 60 e controls the arm 20 and the hand 4 based on the three-dimensional positions measured by the camera control section 60 d , various programs stored in the storage apparatus 61 , settings input from the input apparatus 62 , and the like. Note that, detailed description is omitted for the measurement of the three-dimensional positions of the workpiece W and the precision component by the camera control section 60 d , and for the control of the arm 20 and the hand 4 by the robot control section 60 e.
  • the image processing apparatus 60 b controls the display 64 in accordance with a render instruction from the CPU 60 a to display a predetermined image on a screen.
  • the voice processing apparatus 60 c generates a voice signal in accordance with a sound instruction from the CPU 60 a and outputs the voice signal to the speaker 65 .
  • the storage apparatus 61 is connected to the CPU 60 a via the bus, and includes a ROM 61 a that stores various programs, data, and the like, and a RAM 61 b that is secured as a work area of the CPU 60 a.
  • the input apparatus 62 includes a keyboard 62 a and a mouse 62 b , and can input information necessary for measurement of the three-dimensional position of the workpiece W, or other instructions.
  • the recording medium reading device 66 is used to read a computer-readable recording medium 68 having various programs and the like recorded thereon, and to store the read information into the ROM 61 a .
  • the communication device 67 is used when, for example, without using the recording medium 68 described above, an update program to be delivered from the Internet or the like is downloaded via the communication device 67 .
  • FIG. 3 is a schematic view illustrating the tweezer hand 41 and the connection portion 21 of the robot device 2 according to the first embodiment. Note that, as for the hand 4 , the tweezer hand 41 connected to the arm 20 in FIG. 3 is mainly described, and detailed description of the gripper hand 42 is therefore omitted herein.
  • the tweezer hand 41 includes a tweezer hand main body 43 , tweezers 44 for assembling the precision component, positioning pins 45 a and 45 b for connecting the tweezer hand 41 to the connection portion 21 , and the stereo camera 46 for three-dimensionally measuring the workpiece W and the precision component.
  • the stereo camera 46 is fixed to the tweezer hand main body 43 with a mounting bracket 47 , and is set so that two lenses 46 a and 46 b are focused on the tip of the tweezers 44 .
  • the stereo camera 46 is a measuring machine for measuring the three-dimensional position of the precision component.
  • the positional accuracy required for assembly of the precision component is within ⁇ 50 ⁇ m, which is a very strict value.
  • the positional measurement is performed with use of triangulation utilizing a distance between the two lenses 46 a and 46 b and the focal position of each of the two lenses 46 a and 46 b . Therefore, for accurate positional measurement, not only the distance between the two lenses 46 a and 46 b , but also the focal position of each lens needs to be accurately fixed. Therefore, a movable part such as AF may not exist in a lens optical system, and a focus depth of just about 30 mm can be taken, for example. With this, it is considered that, as for the stereo camera to be mounted to the hand, it is not recommendable to share a versatile stereo camera, but recommendable to provide a stereo camera whose focal position is specifically set for each hand.
  • the tweezer hand 41 integrally includes the stereo camera 46 and the tweezer hand main body 43 without intermediation of a movable part, and hence the position of the precision component held by the tweezers 44 can be measured with higher accuracy. Further, through the integral configuration, the stereo camera 46 does not remain on the arm 20 when the tweezer hand 41 is removed from the connection portion 21 , and hence it is unnecessary to set a teaching point so that the stereo camera 46 does not hit against the feed tray 30 and the like.
  • the stereo camera 46 does not hit against a pole 49 a , the feed tray 30 , or the like.
  • the connection portion 21 includes positioning holes 22 a and 22 b into which the positioning pins 45 a and 45 b provided to the tweezer hand 41 are inserted, and a fixing device (not shown) (for example, an electromagnetic solenoid) for fixing the positioning pins 45 a and 45 b after connection.
  • the positioning holes 22 a and 22 b are each formed to have an entrance inner diameter that is larger than the outer diameter of each of the positioning pins 45 a and 45 b so that a clearance is provided for inserting the positioning pins 45 a and 45 b into the positioning holes 22 a and 22 b .
  • the deep-side inner diameter of each of the positioning holes 22 a and 22 b is set so that no clearance as that at the entrance is provided.
  • the position of the tweezer hand 41 is fixed when the positioning pins 45 a and 45 b are inserted into the positioning holes 22 a and 22 b , respectively.
  • the fixing device is provided inside the connection portion 21 , and performs an opening or closing operation to fix the positioning pins 45 a and 45 b inserted in the positioning holes 22 a are 22 b , respectively. As described above, in the connection portion 21 , the fixing device is opened or closed to connect or release the tweezer hand 41 to or from the arm 20 .
  • the robot device 2 assembles the precision component in the feed tray 30 to the workpiece W
  • the tweezer hand 41 is connected to the connection portion 21 of the arm 20 to execute the operation of assembling the precision component.
  • the gripper hand 42 is connected to the connection portion 21 of the arm 20 to execute the transportation operation.
  • the arm 20 is moved so that the connection portion 21 is located above the first stand 5 a on which the tweezer hand 41 is placed. Then, the positioning pins 45 a and 45 b of the tweezer hand 41 are pushed into the positioning holes 22 a and 22 b of the connection portion 21 . Thus, the tweezer hand 41 and the connection portion 21 are brought into close contact with each other by sandwiching the tweezer hand 41 and the connection portion 21 between the first stand 5 a and the arm 20 .
  • the fixing device fixes the positioning pins 45 a and 45 b inserted in the positioning holes 22 a and 22 b . With this, the tweezer hand 41 is connected to the arm 20 .
  • the tweezer hand 41 when the tweezer hand 41 is to be removed from the arm 20 , the connected tweezer hand 41 is placed on the first stand 5 a , and the fixation of the connection portion 21 by the fixing device is released. With this, the connection between the tweezer hand 41 and the connection portion 21 is released, and the tweezer hand 41 can be removed by moving the arm 20 away from the upper side of the first stand 5 a.
  • the arm 20 is moved so that the connection portion 21 is located above the second stand 5 b on which the gripper hand 42 is placed. Then, the positioning pins of the gripper hand 42 are pushed into the positioning holes 22 a and 22 b of the connection portion 21 . In this manner, the gripper hand 42 and the connection portion 21 are brought into close contact with each other by sandwiching the gripper hand 42 and the connection portion 21 between the second stand 5 b and the arm 20 . At this time, clearances are provided in the respective positioning holes 22 a and 22 b , and hence the positioning pins can be easily pushed therein. After the gripper hand 42 and the connection portion 21 are brought into close contact with each other, the fixing device fixes the positioning pins inserted in the positioning holes 22 a and 22 b . With this, the gripper hand 42 is connected to the arm 20 .
  • the gripper hand 42 when the gripper hand 42 is to be removed from the arm 20 , the connected gripper hand 42 is placed on the second stand 5 b , and the fixation of the connection portion 21 by the fixing device is released. With this, the connection between the gripper hand 42 and the connection portion 21 is released, and the gripper hand 42 can be removed by moving the arm 20 away from the upper side of the second stand 5 b.
  • the power feeding and control for the various hands are performed via cables 48 and 49 .
  • the cables 48 and 49 are used to control the hand 4 , inappropriate routing of the cables 48 and 49 becomes a problem because the cables 48 and 49 may be tangled with the arm 20 or the like.
  • This problem is solved by providing poles 48 a and 49 a as cable hangers for hanging down the cables 48 and 49 from positions higher than the maximum movable height of the arm 20 .
  • the inappropriate routing of the cables 48 and 49 is avoided (see FIG. 1 ).
  • the poles 48 a and 49 a include tension mechanisms for pulling up the cables 48 and 49 , respectively.
  • the cables 48 and 49 are prevented from being tangled with the arm 20 or the like by being dragged on the work table 3 or the floor due to the motion of the arm 20 .
  • the movable range of the arm 20 is not unnecessarily restricted, and it becomes easy to set the teaching point of the arm 20 .
  • the tweezer hand 41 needs, in addition to a cable for control of the tweezers 44 , an image transmission cable for transmitting a signal of information on an image from the stereo camera 46 .
  • this problem may be solved by collecting the image transmission cable, a control cable connected to the controller as a control apparatus, and the power cable connected to a power feeding apparatus (not shown) into a single cable sheath as the cable 48 .
  • the various hands are controlled not through mechanical connection, but through a form that uses an electrical interface for electrical connection to the controller inside the hand.
  • the various hands can be controlled in common, and the gripping force and the accuracy can be freely changed in accordance with the precision component to be assembled.
  • the robot station 1 it is unnecessary to prepare separate arms in accordance with various work steps, and thus the efficiency in use of the arm can be improved. Further, by providing dedicated hands for the respective various steps, the various steps can be supported, and in small-lot, large-variety production, a time period required for change-over of the robot station, which is generated when the product is changed, can be saved. For example, by replacing the hand part during the step, the step of assembling the precision component to the workpiece W and the step of transporting the workpiece W can be performed by the same robot device 2 , and thus the robot device 2 can be used efficiently. As a result, a small-sized robot device having high versatility can be provided without decreasing the work efficiency.
  • FIG. 4 is a schematic view illustrating the robot system 100 including the robot station 1 according to the first embodiment and the multiple other robot stations 101 , 102 , and 103 .
  • the robot system 100 includes the robot station 1 according to the first embodiment, which includes a freely removable hand, and the multiple robot stations 101 , 102 , and 103 each including a fixed hand.
  • the multiple robot stations 101 , 102 , and 103 are robot stations that correspond to various steps, and each have a configuration similar to that of the robot station 1 except that the hand is fixed to the arm.
  • the power feeding and control of robot devices 114 , 115 , and 116 of the robot stations 101 , 102 , and 103 are performed through the power cables and the control cables arranged in the arms, respectively. Then, the robot devices 2 , 114 , 115 , and 116 perform control of the position of a motor (actuator), control of the gripping force, trajectory calculation of the arm and the hand, etc., by CPUs 60 a , 117 , 118 , and 119 based on control signals input through the control cables, respectively.
  • a motor actuator
  • CPUs 60 a , 117 , 118 , and 119 based on control signals input through the control cables, respectively.
  • Controllers 6 , 120 , 121 , and 122 each perform teaching of the robot, robot language processing, and correction of the shift of the robot coordinates from the vision coordinates. Further, the controllers 6 , 120 , 121 , and 122 perform, for the respective robot stations 1 , 101 , 102 , and 103 , a step teaching operation, a program operation, a correction operation between the robot teaching point and the vision, and error monitoring.
  • a system controller 123 is connected to the controllers 6 , 120 , 121 , and 122 via a network 124 , and performs control of cooperative operation among the respective robot stations 1 , 101 , 102 , and 103 , control of the entire robot system, error monitoring, and operation management.
  • the hand part is formed as a tool that may be replaced during the steps. Therefore, the step of assembling the precision component and the transportation operation can be performed by the same robot device. As a result, the arm 20 can be efficiently used in the robot station 1 .
  • a robot station 1 A according to a second embodiment of the present invention is described with reference to FIGS. 5 to 8 .
  • the second embodiment is different from the first embodiment in that the hand serves as the connector. Therefore, in the second embodiment, the difference from the first embodiment, that is, the hand serving as the connector is mainly described.
  • the same components as those in the first embodiment are represented by the same reference symbols, and description thereof is therefore omitted herein.
  • FIG. 5 is a schematic view illustrating the robot station 1 A according to the second embodiment of the present invention.
  • FIG. 6 is a block diagram of a controller 6 A for controlling a first robot device 10 and a second robot device 2 A according to the second embodiment.
  • the robot station 1 A includes the first robot device 10 for gripping the workpiece W, the second robot device 2 A for assembling a precision component to the workpiece W, and the work table 3 on which the assembly of the workpiece W is performed. Further, the robot station 1 A includes a global camera 208 for detecting the precision component to be assembled to the workpiece W, the stand 5 a for placing a tweezer tool 41 A to be described later, and the controller 6 A for controlling the first robot device 10 and the second robot device 2 A.
  • the first robot device 10 includes a six-axis articulated arm 11 , and a hand 12 for gripping the workpiece W.
  • the arm 11 includes six actuators for driving respective joints to rotate about respective joint axes. By selectively driving the respective actuators, the hand 12 is moved to an arbitrary three-dimensional position.
  • the hand 12 is mounted to a distal end of the arm 11 , and includes three hand claws that are freely movable from three different points toward a center position.
  • the hand 12 moves the three hand claws from the outer side toward the center point to grip the workpiece W located at the center position, and moves the three hand claws from the center point side to the outer side to release the gripped workpiece W.
  • the second robot device 2 A includes a six-axis articulated arm 20 A, and the tweezer tool 41 A serving as an end work tool connected to a distal end of the arm 20 A. Further, the second robot device 2 A includes a hand 21 A serving as the connector for connecting the tweezer tool 41 A to the arm 20 A.
  • the arm 20 A includes six actuators for driving respective joints to rotate about respective joint axes. By selectively driving the respective actuators, the tweezer tool 41 A and the hand 21 A are moved to an arbitrary three-dimensional position. The tweezer tool 41 A and the hand 21 A moved to the arbitrary position perform a predetermined work such as assembly of the precision component at the arbitrary position.
  • the robot station 1 A performs an assembly operation based on so-called dual arm cooperative control, in which the first robot device 10 grips the workpiece W and the second robot device 2 A assembles the precision component to the workpiece W.
  • the tweezer tool 41 A and the hand 21 A of the second robot device 2 A are described in detail later.
  • the global camera 208 is mounted at a position above the feed tray 30 , and detects the presence and absence, posture, position, and the like of the precision component to be assembled to the workpiece W.
  • An image taken by the global camera 208 is sent to the image processing apparatus 60 b via a general interface, and is processed into presence and absence information of the precision component and misalignment information of the precision component based on the image processing program.
  • an image taken by the stereo camera 46 provided in the tweezer tool 41 A is also sent to the image processing apparatus 60 b through connection via a dedicated interface, and is processed into necessary positional information.
  • the controller 6 A includes a computation apparatus 60 A and a storage apparatus 61 A provided in a computer main body.
  • the first robot device 10 , the second robot device 2 A, the stereo camera 46 , the global camera 208 , and the like are connected to the computer main body via a bus.
  • the computation apparatus 60 A includes a CPU 60 Aa, the image processing apparatus 60 b , and the voice processing apparatus 60 c .
  • the CPU 60 Aa includes a camera control section 60 Ad and a robot control section 60 Ae.
  • the camera control section 60 Ad measures the three-dimensional positions of the workpiece W and the precision component based on various programs stored in the storage apparatus 61 A (for example, a ROM 61 Aa), settings input from the input apparatus 62 , and the like.
  • the robot control section 60 Ae controls the first robot device 10 and the second robot device 2 A based on the three-dimensional positions measured by the camera control section 60 Ad, various programs stored in the storage apparatus 61 A, settings input from the input apparatus 62 , and the like. Note that, detailed description is omitted for the measurement of the three-dimensional positions of the workpiece W and the precision component by the camera control section 60 Ad, and for the control of the first robot device 10 and the second robot device 2 A by the robot control section 60 Ae.
  • FIG. 7 is a schematic view illustrating the tweezer tool 41 A and the hand 21 A of the second robot device 2 A according to the second embodiment.
  • the tweezer tool 41 A includes a tweezer tool main body 43 A, the tweezers 44 , positioning pins 45 Aa and 45 Ab for connecting the tweezer tool 41 A to the hand 21 A, and the stereo camera 46 .
  • the tweezer tool main body 43 A includes gripping grooves 50 serving as guide grooves for guiding, to positions for the connection, three hand claws 23 a , 23 b , and 23 c serving as multiple hand claws to be described later when connecting the tweezer tool 41 A to the hand 21 A.
  • three gripping grooves 50 are provided, which correspond to the three hand claws 23 a , 23 b , and 23 c .
  • the gripping grooves 50 guide the hand 21 A in a direction for the connection, and prevent a slip of the hand 21 A by fitting the hand 21 A to the gripping grooves 50 at the positions for the connection.
  • the tweezers 44 are supported by the tweezer tool main body 43 A so that the center of gripping is located on an axial line at the center position of the tweezer tool main body 43 A.
  • the positioning pins 45 Aa and 45 Ab are formed so as to be insertable into positioning holes 22 Aa and 22 Ab of the hand 21 A to be described later, respectively. When the positioning pins 45 Aa and 45 Ab are inserted into the positioning holes 22 Aa and 22 Ab, respectively, the tweezer tool 41 A is positioned with respect to the hand 21 A.
  • the stereo camera 46 is fixed to the tweezer tool main body 43 A with the mounting bracket 47 , and is set so that the two lenses 46 a and 46 b are focused on the tip of the tweezers 44 .
  • the tweezer tool 41 A integrally includes the stereo camera 46 and the tweezer tool main body 43 A without intermediation of a movable part, and hence the position of the precision component held by the tweezers 44 can be measured with higher accuracy.
  • the tweezer tool 41 A need to be controlled in an electrical manner, and hence three cables, specifically, a power cable for feeding power, an image transmission cable for transmitting a signal on a taken image, and a control cable for controlling the tweezers 44 are necessary for the tweezer tool 41 A.
  • Those three cables are collected into a single sheath as the dedicated cable 48 .
  • the cable 48 is supported by a cable supporting portion 48 a A serving as the cable hanger from the ceiling side, and is subjected to a constant tension. Therefore, for example, the cable 48 is prevented from being tangled with the arm 20 A or the like by being dragged on the work table 3 or the floor due to the drive of the arm 20 A.
  • the movable range of the arm 20 A is not unnecessarily restricted. As a result, for example, it becomes possible to easily set the teaching point of the arm 20 A.
  • the hand 21 A includes, for example, the three hand claws 23 a , 23 b , and 23 c for gripping the workpiece W, and the positioning holes 22 Aa and 22 Ab.
  • the three hand claws 23 a , 23 b , and 23 c are freely movable from different points toward a center position.
  • the three hand claws 23 a , 23 b , and 23 c move from the outer side toward the center point to grip the tweezer tool main body 43 A, and move from the center point side to the outer side to release the tweezer tool main body 43 A.
  • the hand claws 23 a , 23 b , and 23 c also function as a hand suited to grip a cylindrical workpiece such as a lens barrel as well as the function of gripping the tweezer tool main body 43 A.
  • the center position can be determined depending on the accuracy of the hand claws 23 a , 23 b , and 23 c . This accuracy is determined based on the accuracy of machining the hand claws 23 a , 23 b , and 23 c , and hence extremely high accuracy can be obtained. Therefore, the positioning holes 22 Aa and 22 Ab do not need to strictly conform to the cross-sectional shape of the positioning pins 45 Aa and 45 Ab, respectively.
  • the positioning holes 22 Aa and 22 Ab have clearances provided between the positioning holes 22 Aa and 22 Ab and the positioning pins 45 Aa and 45 Ab, respectively, in a direction different from the direction of the opening and closing movement of the three hand claws 23 a , 23 b , and 23 c.
  • the hand claws 23 a , 23 b , and 23 c may also perform a transportation work for directly gripping, for example, the lens barrel gripped by the first robot device 10 , and transporting the lens barrel to an adjacent robot station.
  • the center of gripping of the tweezers 44 of the tweezer tool 41 A is determined on the axial line at the center position of the tweezer tool main body 43 A, and hence, when the tweezer tool 41 A is gripped by the hand claws 23 a , 23 b , and 23 c , the center position of the opening and closing movement of the hand claws 23 a , 23 b , and 23 c and the center of gripping of the tweezers 44 are aligned on substantially the same axial line.
  • the position of the tweezer tool 41 A in the rotational direction about the axis thereof is determined by the positioning pins 45 Aa and 45 Ab, and hence the accuracy of the gripping position can be maintained at high level with high
  • FIG. 8 is a schematic view illustrating the robot system 200 including the robot station 1 A according to the second embodiment and the multiple other robot stations 201 and 202 .
  • the robot system 200 includes the robot station 1 A according to the second embodiment, which includes the freely removable tweezer tool 41 A, and the multiple robot stations 201 and 202 each including a fixed hand.
  • the multiple robot stations 201 and 202 are robot stations that correspond to various steps, and each have a configuration similar to that of the robot station 1 A except that the tweezer tool 41 A is not provided.
  • global cameras 207 , 208 , and 209 are mounted, respectively. Images taken by the global cameras 207 , 208 , and 209 are sent to image processing apparatus 60 b , 211 , and 212 , respectively, and are processed into presence and absence information of the assembly component and posture and position information of the assembly component based on an image processing program. Note that, an image taken by the stereo camera 46 provided in the tweezer tool 41 A is also sent to the image processing apparatus 60 b through connection via a dedicated interface, and is processed into necessary positional information.
  • first robot devices 10 , 224 , and 225 , and second robot devices 2 A, 214 , and 215 of the robot stations 1 A, 201 , and 202 are performed through the power cables and the control cables arranged in the arms, respectively.
  • the first robot devices 10 , 224 , and 225 , and the second robot devices 2 A, 214 , and 215 perform control of the position of a motor, control of the gripping force, trajectory calculation of the arm and the hand, etc., by CPUs 60 Aa, 217 , and 218 based on control signals input through the control cables, respectively.
  • Controllers 6 A, 220 , and 221 each perform teaching of the robot, robot language processing, and correction of the shift of the robot coordinates from the vision coordinates. Further, the controllers 6 A, 220 , and 221 perform, for the respective robot stations 1 A, 201 , and 202 , a step teaching operation, a program operation, a correction operation between the robot teaching point and the vision, and error monitoring.
  • a system controller 223 is connected to the controllers 6 A, 220 , and 221 via a network 234 , and performs control of cooperative operation among the respective robot stations 1 A, 201 , and 202 , control of the entire robot system, error monitoring, and operation management.
  • the connection mechanism therefor can be used for transporting the workpiece W. Therefore, there is no need to secure a time period for replacing the freely removable tool with another tool suited to the workpiece W, with the result that the tact time of the robot station 1 A can be reduced.
  • the stereo camera 46 is fixed to the tweezer tool main body 43 A, and hence the accuracy of the positioning between the arm 20 A and the tip of the tweezer tool 41 A that performs the assembly work for the precision component can be enhanced.
  • the positional accuracy between the arm 20 A and the tweezer tool 41 A is determined by fitting the positioning pins 45 Aa and 45 Ab of the tweezer tool 41 A into the positioning holes 22 Aa and 22 Ab of the arm 20 A, respectively.
  • the tweezer tool 41 A is provided at a freely removable position, and hence the positioning pins 45 Aa and 45 Ab need to have a given size of clearances for smoothly performing the insertion and removal of the positioning pins 45 Aa and 45 Ab, which raises an issue with the positioning accuracy.
  • the hand 21 A includes the three hand claws 23 a , 23 b , and 23 c that are movable toward the center point of the hand 21 A, and the straight line connecting the center point to the tip of the tweezers 44 is orthogonal to the planar joining portion of the hand 21 A.
  • the tweezer tool 41 A is connected to the hand 21 A at the three coplanar gripping positions on the hand 21 A through use of the three hand claws 23 a , 23 b , and 23 c that move toward the center point, and thus the center position of the hand 21 A can be aligned with the center position of the tweezers 44 with high accuracy.
  • the accuracy only needs to be set strictly in the rotational direction about the axis that is defined at the center position, and hence the other portions between the positioning pins 45 Aa and 45 Ab and the positioning holes 22 Aa and 22 Ab can be used as the clearances.
  • the decrease in accuracy can be suppressed while performing the connection smoothly.
  • the hand claws 23 a , 23 b , and 23 c of the hand 21 A that are used in this embodiment also function as the hand for gripping the workpiece W.
  • Such a function is suitable in the case where the workpiece W is a cylindrical workpiece such as a lens barrel.
  • the center position of the lens barrel can be grasped accurately, and hence the center positions of both the workpieces W can be determined with high accuracy.
  • the work of fitting the cylindrical workpiece to the cylindrical workpiece can be performed easily without correcting the positions through use of the camera or the like.
  • a robot station 1 B according to a third embodiment of the present invention is described with reference to FIGS. 9 to 13 .
  • the third embodiment is different from the second embodiment in the manner of electrical connection of the tweezer tool. Therefore, in the third embodiment, the difference from the second embodiment, that is, the manner of electrical connection of the tweezer tool is mainly described.
  • the same components as those in the second embodiment are represented by the same reference symbols, and description thereof is therefore omitted herein.
  • FIG. 9 is a schematic view illustrating the robot station 1 A according to the third embodiment of the present invention.
  • FIG. 10 is a schematic view illustrating a tweezer tool 41 B and a hand 21 B of a second robot device 2 B according to the third embodiment.
  • FIGS. 11A and 11B are views illustrating transmission contact points of the hand 21 B of the second robot device 2 B according to the third embodiment.
  • the robot station 1 B includes the first robot device 10 , the second robot device 2 B for assembling a precision component to the workpiece W, the work table 3 , the global camera 208 , the stand 5 a , and a controller 6 B.
  • the second robot device 2 B includes a six-axis articulated arm 20 B, the tweezer tool 41 B connected to a distal end of the arm 20 B, and the hand 21 B serving as the connector for connecting the tweezer tool 41 B to the arm 20 B.
  • the arm 20 B includes six actuators, and by selectively driving the respective actuators, the tweezer tool 41 B and the hand 21 B are moved to an arbitrary three-dimensional position.
  • the tweezer tool 41 B and the hand 21 B moved to the arbitrary position perform, for example, assembly of the precision component at the arbitrary position.
  • the tweezer tool 41 B includes a tweezer tool main body 43 B, the tweezers 44 , positioning pins 45 Ba and 45 Bb, and the stereo camera 46 .
  • the hand 21 B includes the three hand claws 23 a , 23 b , and 23 c and positioning holes 22 Ba and 22 Bb.
  • the third embodiment has a feature in that the transmission contact points capable of electrically connecting and disconnecting the control cable, the power cable, and the image transmission cable are provided on the tweezer tool 41 B side and the hand 21 B side. Therefore, the hand 21 B includes the transmission contact points, and the tweezer tool 41 B includes transmission contact points (image signal transmitting terminal, control signal receiving terminal, and power receiving terminal) (not shown) that are connectable to the corresponding transmission contact points of the hand 21 B.
  • the transmission contact points are classified into an image transmitting contact point 24 serving as an image signal receiving terminal, a power feeding contact point 25 serving as a power feeding terminal, and a control signal transmitting contact point 26 serving as a control signal transmitting terminal.
  • the transmission contact points are classified into three types because of the structure in which connection pins project as illustrated in FIG. 11B .
  • the connection pins have such a mechanism that the connection is maintained due to a constant pressure applied by built-in springs at the time of the connection. Therefore, when the hand 21 B grips the tweezer tool 41 B, imbalance in pin pressure between the transmission contact points is eliminated so that the force is applied as evenly as possible when the hand 21 B grips the tweezer tool 41 B.
  • the two cameras of the stereo camera 46 are assigned with transmission signals, respectively, and hence the image transmitting contact point 24 includes two pairs of balanced transmission signal lines having a constant impedance, which are provided across a center ground pin.
  • the power feeding contact point 25 includes a detection pin for detecting presence and absence of the connection of the contact point, which is provided in addition to a power feeding pin and a ground pin.
  • the control signal transmitting contact point 26 includes a pair of balanced transmission lines 26 a having a constant impedance, which is provided across a center ground pin 26 b.
  • the balanced transmission line 26 a of the tweezer tool 41 B has an annular ground 1005 formed around a signal contact point 1003
  • the balanced transmission line 26 a of the hand 21 B has an annular ground 1006 formed around a signal contact point 1004 .
  • each of the signal lines has a constant impedance with respect to the ground, and the balanced transmission lines 26 a can be arranged with less strict positional accuracy of alignment between the contact points.
  • the strokes among the ground pin 26 b , a ground pin 1002 , and the power feeding pin, the detection pin, and the ground pin of the power feeding contact point 25 are adjusted so that, at the time of contact point connection, those pins are brought into contact with the corresponding pins prior to the pins of the signal transmission contact points.
  • the tweezer tool 41 B includes male transmission contact points
  • the hand 21 B includes female transmission contact points.
  • Such a configuration is employed for the purpose of preventing, when the hand claws 23 a , 23 b , and 23 c grip the workpiece W, distal ends of the pins of the transmission contact points from being damaged due to an impact of the workpiece W on the transmission contact points. Therefore, as long as any measures are taken, such as providing retractable contact points of the hand 21 B, the male and female pins of the transmission contact points may be arranged in a reverse manner.
  • an oxide film, dust, oil film, and the like that are generated over time may spontaneously adhere to portions of the contact points.
  • This embodiment employs contact point pins structured to rotate when the transmission contact points are pushed, to thereby take a measure against the oxide film, dust, oil film, and the like.
  • a measure against the dust between the contact points there may be employed a measure such as sliding the contact point pins at the time of gripping.
  • control cables of two cameras 1103 and 1104 mounted to the stereo camera 46 are connected to a control apparatus 1105 of the tweezer tool 41 B, and control signals and power are supplied from the control apparatus 1105 .
  • the tweezers 44 of the tweezer tool 41 B are connected to a motor 1106 , and are driven by the motor 1106 to perform opening and closing movement.
  • Image transmission signals from the two cameras 1103 and 1104 are converted into high-speed serial signals, and are sent to an image transmission male contact point 1123 .
  • a control signal transmission male contact point 1124 and a power feeding male contact point 1125 are connected to the control apparatus 1105 .
  • a serial signal transmission repeater 1121 for transmitting the high-speed serial signals to the image processing apparatus 60 b without deterioration amplifies the high-speed serial signals received at an image transmission female contact point 1128 and transmits the amplified high-speed serial signals again, to thereby minimize influence of signal deterioration due to the image transmission contact points.
  • the serial signal transmission repeater 1121 secures a long distance for signal transmission through the image transmission signal line extending from the arm 20 B to the image processing apparatus 60 b.
  • a hand control apparatus 1122 for controlling the connection to the control apparatus 1105 of the tweezer tool 41 B is connected to a control signal transmission female contact point 1127 and a power feeding female contact point 1126 corresponding to the control signal transmission male contact point 1124 and the power feeding male contact point 1125 of the tweezer tool 41 B, respectively.
  • Control cables of the arm 20 B and the hand 21 B control connection and disconnection of the interfaces in the operating state, and use the signal from the contact point connection detection pin built in the power feeding female contact point 1126 to control the start of power feeding to the tweezer tool 41 B at the time of connection.
  • the power feeding start control it is possible to prevent sparks from being generated between the contact points due to the power feeding before secure connection is established between the contact points, and therefore greatly prolong the life of the contact points.
  • the hand control apparatus 1122 controls the hand claws 23 a , 23 b , and 23 c .
  • the hand control apparatus 1122 and motor control apparatus 1107 to 1112 for respectively controlling motors 1113 to 1118 of axes J 6 to J 1 , which are mounted to the joint portions of the arm 20 B, are connected to a CPU 60 Ba through a control communication line.
  • the power is fed through a controller 6 B.
  • the signals to be transmitted through the above-mentioned control cable also include the control signals for the cameras 1103 and 1104 .
  • this control cable is also connected to the image processing apparatus 60 b , and the control apparatus of the arm 20 B, the hand 21 B, and the tweezer tool 41 B are controlled through the same control cable via a multi-host control interface such as a CAN. Further, this embodiment has described the case where the control signals and the image transmission signals are transmitted through the separate signal lines, but the same transmission contact point may be used when a bidirectional high-speed communication interface such as a GIGE and a USB is used.
  • FIG. 13 is a schematic view illustrating the robot system 300 including the robot station 1 B according to the third embodiment and the multiple other robot stations 301 and 302 .
  • the robot system 300 includes the robot station 1 B according to the third embodiment, which includes the freely removable tweezer tool 41 B, and the multiple robot stations 301 and 302 each including a fixed hand.
  • the multiple robot stations 301 and 302 are robot stations that correspond to various steps, and each have a configuration similar to that of the robot station 1 B except that the tweezer tool 41 B is not provided.
  • global cameras 307 , 308 , and 309 are mounted, respectively. Images taken by the global cameras 307 , 308 , and 309 are sent to image processing apparatus 60 b , 311 , and 312 , respectively, and are processed into presence and absence information of the assembly component and posture and position information of the assembly component based on an image processing program. Note that, an image taken by the stereo camera 46 provided in the tweezer tool 41 B is also sent to the image processing apparatus 60 b through connection via a dedicated interface, and is processed into necessary positional information.
  • first robot devices 10 , 324 , and 325 , and second robot devices 2 B, 314 , and 315 of the robot stations 1 B, 301 , and 302 are performed through the power cables and the control cables arranged in the arms, respectively.
  • the first robot devices 10 , 324 , and 325 , and the second robot devices 2 B, 314 , and 315 perform control of the position of a motor, control of the gripping force, trajectory calculation of the arm and the hand, etc., by CPUs 60 Ba, 317 , and 318 based on control signals input through the control cables, respectively.
  • Controllers 6 B, 320 , and 321 each perform teaching of the robot, robot language processing, and correction of the shift of the robot coordinates from the vision coordinates. Further, the controllers 6 B, 320 , and 321 perform, for the respective robot stations 1 B, 301 , and 302 , a step teaching operation, a program operation, a correction operation between the robot teaching point and the vision, and error monitoring.
  • the image processing apparatus 60 b , 311 , and 312 and the controllers 6 B, 320 , and 321 are connected to each other in a parallel manner via a local area network 334 .
  • the controllers 6 B, 320 , and 321 may control adjacent robot stations as well as their corresponding robot stations. That is, the control over the multiple stations, such as control of cooperative operation between the stations, is facilitated.
  • a system controller 323 is connected to the controllers 6 B, 320 , and 321 via a local area network 334 , and performs control of cooperative operation among the respective robot stations 1 B, 301 , and 302 , control of the entire robot system, error monitoring, and operation management.
  • the wiring cables extending from the tweezer tool 41 B are routed easily, and the teaching of the arm 20 B can be performed easily.
  • the wiring only needs to be routed along the arm, but in the case where the stereo camera is provided to the tool, the tool may be disconnected from the arm, and hence the wiring cannot be routed along the arm. Therefore, it is necessary to provide wiring to the tool independently of the arm. Further, when the tool is used in connection to the arm, the wiring may move in an unintended direction in response to the motion of the arm, and hence, in the teaching for various work steps, the motion of the arm needs to be determined in consideration of the movement of the wiring.
  • the hardness of the wiring may change depending on the age of service and the temperature under an operation environment, and further, the wiring needs to be replaced at the time of maintenance. Therefore, the wiring has many fluctuation factors, which become a serious problem in realizing stable operation of the device.
  • the image communication for the stereo camera, the control communication for the tool, and the power feeding to the tool and the stereo camera are performed through the contact points provided at the connection portion between the tool and the hand, and the contact points are controlled to realize the image communication, the control communication, and the power feeding. That is, the contact point units are provided on the tool side and the arm side, and thus, even in the case where the freely removable tool is used, the route of the wiring can be fixed to the route of the wiring along the arm.
  • the teaching of the arm can be performed in a manner similar to that of the conventional case, and there is no need to consider the fluctuation in movement of the wiring due to the motion of the arm. As a result, the time period required for change-over of the robot device can be reduced.
  • a robot station 1 C according to a fourth embodiment of the present invention is described with reference to FIGS. 14 to 16 .
  • the fourth embodiment is different from the third embodiment in the manner of electrical connection of the tweezer tool. Therefore, in the fourth embodiment, the difference from the third embodiment, that is, the manner of electrical connection of the tweezer tool is mainly described.
  • the same components as those in the third embodiment are represented by the same reference symbols, and description thereof is therefore omitted herein.
  • FIG. 14 is a schematic view illustrating the robot station 1 C according to the fourth embodiment of the present invention.
  • FIG. 15 is a block diagram of transmission contact points of a second robot device 2 C according to the fourth embodiment.
  • the robot station 1 C includes the first robot device 10 , the second robot device 2 C for assembling a precision component to the workpiece W, the work table 3 , a global camera 308 , the stand 5 a , and a controller 6 C.
  • the second robot device 2 C includes a six-axis articulated arm 20 C, a tweezer tool 41 C connected to a distal end of the arm 20 C, and a hand 21 C serving as the connector for connecting the tweezer tool 41 C to the arm 20 C.
  • the arm 20 C includes six actuators, and by selectively driving the respective actuators, the tweezer tool 41 C and the hand 21 C are moved to an arbitrary three-dimensional position.
  • the tweezer tool 41 C and the hand 21 C moved to the arbitrary position perform, for example, assembly of the precision component at the arbitrary position.
  • the tweezer tool 41 C includes a tweezer tool main body 43 C, the tweezers 44 , positioning pins 45 Ca and 45 Cb, and the stereo camera 46 .
  • the hand 21 C includes the three hand claws 23 a , 23 b , and 23 c and positioning holes 22 Ca and 22 Cb.
  • the power contact points and the control contact points are used to perform the connection between the tweezer tool 41 C and the hand 21 C through the transmission contact points.
  • a wireless communication device is built into the stereo camera 46 to perform the communication of the image transmission signals and the control of the camera via the wireless communication device.
  • the image transmission line is omitted from the dedicated lines that are built into the arm, and only the two cables, that is, the power cable and the control cable are necessary.
  • all the communication between the tool and the controller may be performed by wireless.
  • a device using a radio wave having a wavelength equal to or shorter than that of at least a millimeter wave or a device using optical communication is essential to the communication interface having a communication speed exceeding 1 Gbps, and the directivity along with the use of the shorter wavelength may cause a trouble in realizing stable operation of the robot system.
  • the wireless communication device in which the directivity causes no trouble has a low transmission speed, and hence the image communication cannot be performed in real time, resulting in a problem in that the tact time of the robot system is increased significantly.
  • the image taking position and the object to be taken as an image are identified uniquely.
  • An antenna 27 is arranged in accordance with the identification, and thus the stability of the robot system along with the directivity can be secured.
  • the communication needs to be continued during the operation as well, and the control communication for the hand that cannot be identified in its position and the power feeding that cannot be realized by wireless are performed through the contact point transmission.
  • the image communication to and from the controller in which the maintenance cycle becomes shorter when the image transmission line is used, can be performed without using the contact points, and only the control communication for the hand and the like, which require the stability, are performed through the contact point transmission, with the result that the maintenance cycle for the wiring and the contact points can be increased significantly. Further, stable operation can be realized.
  • the tweezers 44 of the tweezer tool 41 C are connected to a motor 1407 , and are driven by the motor 1407 to perform opening and closing movement.
  • the image transmission signal line and the control cables of the cameras are connected to a millimeter wave wireless communication unit 1405 , and are connected to a wireless communication unit 1408 on the image processing apparatus 60 b side through the millimeter wave wireless communication.
  • the control apparatus 1406 is connected to a signal transmission male contact point 1409 and a power feeding male contact point 1410 , and also to a signal transmission male contact point 1411 and a power feeding male contact point 1412 , which are additionally provided in a similar manner at a position opposed to the stand 5 a for the tweezer tool 41 C.
  • the signal transmission male contact point 1411 and the power feeding male contact point 1412 are connected in parallel to the signal transmission male contact point 1409 and the power feeding male contact point 1410 .
  • the stand 5 a is provided with a control signal transmission female contact point 1416 and a power feeding female contact point 1417 , which are similar to a control signal transmission female contact point 1414 and a power feeding female contact point 1415 for the hand claws 23 a , 23 b , and 23 c . Further, the stand 5 a is provided with a hand control apparatus 1419 having a function similar to that of a hand control apparatus 1418 that is mounted on the hand 21 C side.
  • Motor control apparatus 1420 to 1425 for respectively controlling motors 1426 to 1431 provided to axes J 6 to J 1 of the joints of the arm are connected to a CPU 60 Ca through the same control line for the hand control apparatus 1418 and 1419 . Further, the motor control apparatus 1420 to 1425 are connected to the control apparatus 1406 of the tweezer tool 41 C through the contact points 1414 , 1415 , 1409 , and 1410 .
  • the tweezer tool 41 C can be controlled from the stand 5 a , and hence there is no need to drive the arm 20 C. Thus, the maintenance easiness for the tweezer tool 41 C can be enhanced.
  • the camera control system is separated from the tweezer control system, and hence, as long as power is fed, the camera control and the image transmission can be performed irrespective of the robot controller. Therefore, the image processing apparatus 60 b alone can confirm the operation of the stereo camera 46 that is mounted to the tweezer tool 41 C. Thus, the maintenance easiness can further be enhanced.
  • FIG. 16 is a schematic view illustrating the robot system 400 including the robot station 1 C according to the fourth embodiment and the multiple other robot stations 401 and 402 .
  • the robot system 400 includes the robot station 1 C according to the fourth embodiment, which includes the freely removable tweezer tool 41 C, and the multiple robot stations 401 and 402 each including a fixed hand.
  • the multiple robot stations 401 and 402 are robot stations that correspond to various steps, and each have a configuration similar to that of the robot station 1 C except that the tweezer tool 41 C is not provided.
  • global cameras 407 , 408 , and 409 are mounted, respectively. Images taken by the global cameras 407 , 408 , and 409 are sent to image processing apparatus 60 b , 411 , and 412 , respectively, and are processed into presence and absence information of the assembly component and posture and position information of the assembly component based on an image processing program. Note that, an image taken by the stereo camera 46 provided in the tweezer tool 41 C is also sent to the image processing apparatus 60 b through connection via a dedicated interface, and is processed into necessary positional information.
  • first robot devices 10 , 424 , and 425 , and second robot devices 2 C, 414 , and 415 of the robot stations 1 C, 401 , and 402 are performed through the power cables and the control cables arranged in the arms, respectively.
  • the first robot devices 10 , 424 , and 425 , and the second robot devices 2 C, 414 , and 415 perform control of the position of a motor, control of the gripping force, trajectory calculation of the arm and the hand, etc., by CPUs 60 Ca, 417 , and 418 based on control signals input through the control cables, respectively.
  • Controllers 6 C, 420 , and 421 are connected to the image processing apparatus 60 b , 411 , and 412 and the CPU 60 Ca, 417 , and 418 , and each perform teaching of the robot, robot language processing, and correction of the shift of the robot coordinates from the vision coordinates. Further, the controllers 6 C, 420 , and 421 perform, for the respective robot stations 1 C, 401 , and 402 , a step teaching operation, a program operation, a correction operation between the robot teaching point and the vision, and error monitoring.
  • the image processing apparatus 60 b , 411 , and 412 and the controllers 6 C, 420 , and 421 are connected to each other in a parallel manner via a local area network 434 .
  • the CPU 60 Ca is also connected to the stand 5 a through the control cable and the power cable, and the power cable may be activated separately from the robot controller.
  • the wireless system In the system in which a large number of robot stations are arranged, there is a problem of radio interference in the wireless system. For example, in a wireless HD system that is a representative communication system of millimeter waves, there are only three channels available even when all the permitted frequency bands are used, and only three devices are operable at the same time.
  • the CPUs 60 Ca, 417 , and 418 and the image processing apparatus 60 b , 411 , and 412 are connected to the same local area network in a parallel manner, and thus the timings to use the wireless communication in the respective stations can be confirmed in advance. As a result, the wireless communication can easily be performed in a time division manner.
  • the above-mentioned configuration is effective in a robot cell that uses a large amount of wireless communication.
  • the embodiments of the present invention are described by way of the tweezer tool serving as the end work tool, but the present invention is not limited thereto.
  • the end work tool work tools such as a screwdriver, a drill, a soldering machine, and a bonding machine may be mounted instead.
  • the embodiments of the present invention are described by way of the hand 21 A including the three hand claws 23 a , 23 b , and 23 c serving as the multiple hand claws, but the present invention is not limited thereto. It is only necessary that the multiple hand claws be at least two hand claws capable of gripping the workpiece.
  • the small-sized robot device having high versatility without decreasing the work efficiency by removably providing the end effector including a camera at the distal end of the arm.

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US20140046486A1 (en) 2014-02-13

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